99 lines
3.1 KiB
C++
99 lines
3.1 KiB
C++
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifdef RENDER_SNIPPET
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#include "PxPhysicsAPI.h"
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#include "../snippetrender/SnippetRender.h"
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#include "../snippetrender/SnippetCamera.h"
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using namespace physx;
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extern void initPhysics(bool interactive);
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extern void stepPhysics(bool interactive);
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extern void cleanupPhysics(bool interactive);
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extern PxU32 getRBCount();
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extern const PxGeometryHolder* getRBGeometries();
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extern const PxTransform* getRBPoses();
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extern PxU32 getLinkCount();
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extern const PxGeometryHolder* getLinkGeometries();
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extern const PxTransform* getLinkPoses();
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namespace
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{
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Snippets::Camera* sCamera;
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void renderCallback()
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{
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stepPhysics(true);
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Snippets::startRender(sCamera);
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const PxVec3 dynColor(1.0f, 0.5f, 0.25f);
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const PxVec3 rcaColor(0.6f*0.75f, 0.8f*0.75f, 1.0f*0.75f);
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if (getRBCount())
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Snippets::renderGeoms(getRBCount(), getRBGeometries(), getRBPoses(), true, dynColor);
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if (getLinkCount())
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Snippets::renderGeoms(getLinkCount(), getLinkGeometries(), getLinkPoses(), true, rcaColor);
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Snippets::finishRender();
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}
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void cleanup()
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{
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delete sCamera;
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cleanupPhysics(true);
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}
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void exitCallback()
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{
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}
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}
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const PxVec3 gCamEyeLift(-5.858525f, 6.079476f, 1.546743f);
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const PxVec3 gCamDirLift(0.927923f, -0.356565f, -0.108720f);
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void renderLoop()
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{
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sCamera = new Snippets::Camera(gCamEyeLift, gCamDirLift);
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Snippets::setupDefault("PhysX Snippet Direct GPU API Articulation", sCamera, NULL, renderCallback, exitCallback);
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initPhysics(true);
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glutMainLoop();
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cleanup();
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}
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#endif
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